基于最小冲突概率的航迹规划方法研究

Research on Trajectory Planning Method Based on Minimal Conflict Probability

为解决陆战场环境下飞行器间或飞行器与环境间存在的空域冲突问题,提出了一种航迹规划方法,有效地规避了冲突。选取适当的参数对陆战场空域进行网格化建模,结合具体的飞行计划信息,计算飞行器在自身运动空间中的出现概率,推算在空域网格中飞行器间的冲突概率,使用改进的A*算法对飞行器进行航迹规划。算法综合考虑飞行器飞行过程中的距离代价与冲突代价,减小了飞行器间的冲突概率。仿真验证了算法的有效性。

In order to solve the problem of possible airspace conflict between the aircrafts or between the aircraft and the environment in the land battlefield,a trajectory planning method is proposed to avoid the conflict.The appropriate parameters to model the airspace of the airspace of the land battlefield are selected,and then the specific flight plan information is combined to calculate the occuring probability of the aircraft in its own motion space,and then the probability of conflict between the aircrafts in the airspace grid is reckoned.At last the improved A-star algorism is adopted to plan the trajectory of the aircraft.The distance cost and conflict cost of the aircraft during the flight are comprehensively considered by the algorithm,the probability of conflicts between aircrafts is reduced.At last,the simulation verifies the effectiveness of this method.